| 基于改进型遗传算法的深海集矿机路径规划 |
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| 引用本文： | 王随平,蒋亮谋.基于改进型遗传算法的深海集矿机路径规划[J].自动化与仪表,2008,23(9). |
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| 作者姓名： | 王随平 蒋亮谋 |
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| 作者单位： | 中南大学,信息科学与工程学院,长沙,410083 |
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| 基金项目： | 国际海底区域研究开发项目，国家重点基础研究发展计划(973计划)，国家自然科学基金 |
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| 摘 要： | 提出一种基于改进型遗传算法的深海集矿机路径规划新方法。针对路径规划中标准遗传算法易陷入局部最优的缺点,在标准遗传算法基础上,根据栅格地图的实际特点对算法的编码设计,初始群体设定及遗传操作做出了相应的改进,提高了染色体整体的进化效率,使得改进后的算法可以准确、快速地获取最优路径。实验仿真结果表明该算法的有效性。
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| 关 键 词： | 路径规划 遗传算法 栅格法 深海集矿机 |
Path Planning Based on Modified Genetic Algorithm of Deep-seabed Mining Robot |
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| WANG Sui-ping,JIANG Liang-mou.Path Planning Based on Modified Genetic Algorithm of Deep-seabed Mining Robot[J].Automation and Instrumentation,2008,23(9). |
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| Authors: | WANG Sui-ping JIANG Liang-mou |
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| Abstract: | A path planning method of deep-seabed mining vehicle is proposed.It is based on improved grids field approach,developing the genetic operator and initiating colony,to solve the local optimal deficiency of path planning using genetic algorithm.The chromosome evolving speed is advanced and the optimal path can be acquired accurately.The method is effective that proved by experiments and simulation. |
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| Keywords: | path planning genetic algorithm(GA) grids deep-seabed mining robot |
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